ximeaAirborneSystem/Source_Files/ximeaimager.cpp

#include "Header_Files/ximeaimager.h"

XimeaImager::XimeaImager()
{
    m_buffer=nullptr;
    m_bRecordControl=false;
    m_iFrameCounter=0;
    m_iImagerState=100;

    QString ximeaCfgFile = "/media/nvme/300TC/config/ximea.cfg";
    m_configfile.setConfigfilePath(ximeaCfgFile.toStdString());
    if(!m_configfile.isConfigfileExist())
        m_configfile.createConfigFile();
    m_configfile.parseConfigfile();
    m_configfile.getWindowOffsety_HeightOfSpectral(m_iOffsetyOfSpectralBin1, m_iHeightOfSpectralBin1, "bin1");
    m_configfile.getWindowOffsety_HeightOfSpectral(m_iOffsetyOfSpectralBin2, m_iHeightOfSpectralBin2, "bin2");
    //检查 ximea.cfg 是否满足要求
    if(m_iOffsetyOfSpectralBin2 != m_iOffsetyOfSpectralBin1 / 2)
    {
        std::cout<<"ximea.cfg 错误：m_iOffsetyOfSpectralBin2 != m_iOffsetyOfSpectralBin1 / 2!"<<std::endl;
    }
    if(m_iOffsetyOfSpectralBin2 % 2 != 0)
    {
        std::cout<<"ximea.cfg 错误：m_iOffsetyOfSpectralBin2 不是 2 的倍数，ximea相机不接受!"<<std::endl;
    }
    if(m_iHeightOfSpectralBin1 < m_iHeightOfSpectralBin2 * 2)
    {
        std::cout<<"ximea.cfg 错误：bin1 波段数小于 bin2 波段数的 2 倍!"<<std::endl;
    }

    QString ximeaParamCfgFile = "/media/nvme/300TC/config/ximeaParam.cfg";
    m_parameterConfigfile.setConfigfilePath(ximeaParamCfgFile.toStdString());
    if(!m_parameterConfigfile.isConfigfileExist())
        m_parameterConfigfile.createConfigFile();
    m_parameterConfigfile.parseConfigfile();

    m_recordTempThread=new QThread();
    m_ximeaTemperature = new RecordXimeaTemperature(&m_imager, this);
    m_ximeaTemperature->moveToThread(m_recordTempThread);
    m_recordTempThread->start();

    connect(this, SIGNAL(recordXimeaTemperatureSignal(QString)),m_ximeaTemperature, SLOT(recordTemperature(QString)));

    writeData2DiskThread = new QThread();
    writeData2Disk = new WriteData2Disk();
    writeData2Disk->moveToThread(writeData2DiskThread);
    writeData2DiskThread->start(QThread::HighestPriority);
    connect(this, SIGNAL(startWriteDiskSignal()), writeData2Disk, SLOT(write2Disk()));

    m_pool = new MemoryPool<DataBuffer>;
    q = new queue<DataBuffer *>;
    m_qFrameCounter = new queue<int>;

    m_rgbImage = new rgbImage();
}

XimeaImager::~XimeaImager()
{

}

void XimeaImager::openImger()
{
    if(m_iImagerState != 100)//如果相机已经打开或者已经出错，就直接返回
    {
        emit ximeaImageStatus(m_iImagerState);

        return;
    }

    try
    {
        //std::cout<<"XimeaImager::openImger111111111111111111111:正在打开相机!"<<std::endl;
        m_imager.connect();

        bool ret, ret1, ret2;

        int spatialBin;
        int spectralBin;
        ret1 = m_configfile.getspatialBin(spatialBin);
        ret2 = m_configfile.getSpectralBin(spectralBin);
        if (ret1 & ret2)
        {
            bool haha = m_imager.setSpectralBin(spectralBin);
            bool haha2 = m_imager.setSpatialBin(spatialBin);

            emit binSignal(spatialBin, spectralBin);
            std::cout<<"spectralBin："<< spectralBin <<std::endl;
            std::cout<<"spatialBin："<< spatialBin <<std::endl;
        }

        float gain, offset;//用于生成头文件中的波长信息
        ret = m_configfile.getGainOffsetOfSpectralBin1(gain, offset);
        if (ret)
        {
            m_imager.setGainOffset(gain, offset);
        }

        int width = 0, offsetx = 0, height = 0, offsety = 0;
        ret = m_configfile.getEffectiveWindow(width, offsetx, height, offsety);
        if (ret)
        {
            m_imager.setEffectiveWindow(offsetx, width, offsety, height);
            m_rgbImage->SetRgbImageWidthAndHeight(height, width, 20);
            std::cout<<"height："<< height <<std::endl;
            std::cout<<"width："<< width <<std::endl;
            std::cout<<"每帧字节数："<< width * height * 2 <<std::endl;
        }

//        int width_roi = 0, offsetx_roi = 0;
//        ret = m_configfile.getEffectiveWindowRoi(width_roi, offsetx_roi);
//        if (ret)
//        {
//            m_imager.setEffectiveWindowRoi(offsetx_roi, width_roi);
//        }

        int bufferPolicy, acqBufferSize;
        ret1 = m_configfile.getBufferPolicy(bufferPolicy);
        if (ret1)
        {
            m_imager.setBufferPolicy(bufferPolicy);
        }
        ret1 = m_configfile.getAcqBufferSize(acqBufferSize);
        if (ret1)
        {
            m_imager.setAcqBufferSize(acqBufferSize);
        }

        if (m_parameterConfigfile.isConfigfileExist())
        {
            int frameRate;
            m_parameterConfigfile.getFrameRate(frameRate);
            setFramerate(frameRate);

            float exposeTime;
            m_parameterConfigfile.getExposeTime(exposeTime);
            wrapSetExposureTime(exposeTime);
        }
        else
        {
            setFramerate(100);
        }

        //经验证：frameSizeManual和frameSizeAuto相等
        int frameSizeManual = m_imager.get_band_count()*m_imager.get_sample_count()*2;
        int frameSizeAuto = m_imager.getBufferSizeOfOneFrame();

        m_iFrameSizeInByte = frameSizeAuto;
        std::cout<<"每一帧的字节数：-------------------------------"<< m_iFrameSizeInByte <<std::endl;

        m_buffer = new unsigned short[m_iFrameSizeInByte];

        m_iImagerState = 101;
        emit ximeaImageStatus(m_iImagerState);

        QDateTime curDateTime = QDateTime::currentDateTime();
        QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
        m_ximeaTemperatureCSVPath = QDir::cleanPath(QString::fromStdString("/media/nvme/300TC/programRunLog/ximeaTemperature") + QDir::separator() + "ximeaTemperature_" + currentTime + ".csv");
//        m_ximeaTemperatureCSVPath = "/home/ximeaTemperature.csv";
        emit recordXimeaTemperatureSignal(m_ximeaTemperatureCSVPath);
    }
    catch(int xiApiErrorCodes)
    {
        std::cout<<"XimeaImager::openImger----------------:ERROR!"<<std::endl;

        processXiApiErrorCodes(xiApiErrorCodes);
    }
    catch(char const* e1)
    {
        std::cout<<"char *e---------!"<<std::endl;
    }
}

void XimeaImager::closeImger()
{
    m_ximeaTemperature->stopRecordTemperature();

    if(m_iImagerState==100)
    {
        emit ximeaImageStatus(m_iImagerState);

        return;
    }

    try
    {
        m_imager.disconnect();

        m_iImagerState=100;
        emit ximeaImageStatus(m_iImagerState);
    }
    catch(int xiApiErrorCodes)
    {
        std::cout<<"XimeaImager::closeImger-------------------!"<<std::endl;
        processXiApiErrorCodes(xiApiErrorCodes);
    }


}

void XimeaImager::setFramerate(double framerate)
{
    try
    {
        m_imager.set_framerate(framerate);

        int exposureTimeInUs = getExposureTime();

        int maxExposureTimeInUs=1/framerate*1000000;

        if (exposureTimeInUs > maxExposureTimeInUs)
        {
            wrapSetExposureTime(maxExposureTimeInUs);
        }

        m_iImagerState=102;
        emit ximeaImageStatus(m_iImagerState);

        emit frameRateSignal(framerate);

        m_parameterConfigfile.setFrameRate(framerate);
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
    }
}

double XimeaImager::getExposureTime()
{
    double exposureTime;
    try
    {
        exposureTime=m_imager.get_integration_time();
        return exposureTime;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

double XimeaImager::setExposureTime(float exposureTime_in_us)
{
    double integrationTime2Return;

    try
    {
        //计算最大积分时间
        float currentFramerate=getFramerate();
        float maxExposureTime_in_us=1/currentFramerate*1000000;

        //确保设置的积分时间比最大积分时间小
        if(exposureTime_in_us<maxExposureTime_in_us)
        {
            m_imager.set_integration_time(exposureTime_in_us);
        }
        else
        {
            m_imager.set_integration_time(maxExposureTime_in_us);
        }

        //返回设置的积分时间
        integrationTime2Return=m_imager.get_integration_time();
        m_parameterConfigfile.setExposeTime(integrationTime2Return);

        return integrationTime2Return;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

int XimeaImager::wrapSetExposureTime(float exposureTime_in_us)
{
    double exposureTime = setExposureTime(exposureTime_in_us);

    m_imager.start();
    m_imager.get_frame(m_buffer);
    m_imager.stop();

    int maxValueOfOneFrame = getMaxValueOfOneFrame((short unsigned int*)m_imager.m_image.bp,m_imager.get_band_count()*m_imager.get_sample_count());

    m_iImagerState=103;
    emit ximeaImageStatus(m_iImagerState);

    emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime);

    return maxValueOfOneFrame;
}

double XimeaImager::autoExposure()
{
    double exposureTime;
    try
    {
        //方式１：在曝光时的帧率前提下，从最大曝光时间开始循环采集
        int maxValueOfOneFrame;
        float suitableMaxValue=4095 * 0.8;

        double framerate = m_imager.get_framerate();
        double maxExposureTime = 1/framerate*1000000*0.95;//0.95目的：避免曝光时间超过最大，而造成帧率降低
        exposureTime=setExposureTime(maxExposureTime);

        bool bIsAutoExposureOk=false;
        while(!bIsAutoExposureOk)
        {
            std::cout<<"自动曝光本次时间为："<< exposureTime <<std::endl;

            m_imager.start();
            m_imager.get_frame(m_buffer);
            m_imager.stop();

            maxValueOfOneFrame=getMaxValueOfOneFrame((short unsigned int*)m_imager.m_image.bp,m_imager.get_band_count()*m_imager.get_sample_count());
            printf("本帧最大值为: %d.\n",maxValueOfOneFrame);

            if(maxValueOfOneFrame <= suitableMaxValue)
            {
                bIsAutoExposureOk=true;
            }
            else
            {
                exposureTime = exposureTime*0.95;
                exposureTime=setExposureTime(exposureTime);
            }
        }


//        //方式2：
//        int baseExposureTime_in_us=5000;
//        float suitableMaxValue=4095 * 0.8;
//        int maxValueOfOneFrame;

//        setExposureTime(baseExposureTime_in_us);

//        m_imager.start();
//        m_imager.get_frame(m_buffer);
//        m_imager.stop();

//        std::cout<<"1111111111111111111111111111111111!"<<std::endl;
//        maxValueOfOneFrame=getMaxValueOfOneFrame(m_buffer,m_imager.get_band_count()*m_imager.get_sample_count());
//        std::cout<<"2222222222222222222222222222222222!"<<std::endl;

//        float scale=suitableMaxValue/maxValueOfOneFrame;
//        float suitableExposureTime=baseExposureTime_in_us * scale;
//        exposureTime=setExposureTime(suitableExposureTime);

        m_iImagerState=103;
        emit ximeaImageStatus(m_iImagerState);
        emit autoExposeMaxValueOfOneFrame(maxValueOfOneFrame, exposureTime);

        std::cout<<"自动曝光完成!"<<std::endl;
        return exposureTime;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);

        std::cout<<"自动曝光失败!"<<std::endl;
        return -1;
    }


}

double XimeaImager::getFramerate()
{
    double framerate;

    try
    {
        framerate=m_imager.get_framerate();

        return framerate;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);

        return -1;
    }
}

void XimeaImager::setGain(double gain)
{
    try
    {
        m_imager.set_gain(gain);
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
    }
}

double XimeaImager::getGain()
{
    try
    {
        return m_imager.get_gain();
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

int XimeaImager::getSampleCount()
{
    try
    {
        int sampleCount=m_imager.get_sample_count();
        return sampleCount;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

int XimeaImager::getBandCount()
{
    int bandCount;

    try
    {
        bandCount=m_imager.get_band_count();
        return bandCount;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

int XimeaImager::getWindowStartBand()
{
    int windowStartBand;

    try
    {
        windowStartBand=m_imager.get_start_band();
        return windowStartBand;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

int XimeaImager::getWindowEndBand()
{
    int windowEndBand;

    try
    {
        windowEndBand=m_imager.get_end_band();
        return windowEndBand;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

double XimeaImager::geWavelengthAtBand(int x)
{
    double wavelengthAtBand;

    try
    {
        wavelengthAtBand=m_imager.get_wavelength_at_band(x);
        return wavelengthAtBand;
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
        return -1;
    }
}

int XimeaImager::getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel)
{
    //排序
    //bubbleSort(data,1000);


    //计算出最大的10%值的平均值
    unsigned short maxValue=0;
    for(int i=0;i<numberOfPixel;i++)
    {
//        std::cout<<"像素值为："<< *(data + i) <<std::endl;
        if (*(data + i)>maxValue)
        {
            //std::cout<<"像素值为："<< *(data + i) <<std::endl;
            maxValue=*(data + i);
        }
        if (*(data + i)==65535)
        {
            int a=0;
        }
    }

    return maxValue;
}

int XimeaImager::getImagerState() const
{
    return m_iImagerState;
}

double XimeaImager::calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * image, double timeDifferenceBetweenSbgAndOS)
{
    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndOS: %f s\n", timeDifferenceBetweenSbgAndOS);

    double ximeaTime=image->tsSec + image->tsUSec/1000000;

    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--ximeaTime: %f s\n", ximeaTime);

    //获取系统时间（纳秒）
    struct timespec systemTime;
    clock_gettime(CLOCK_REALTIME,&systemTime);
    tm systemTime_rili;
    localtime_r(&systemTime.tv_sec, &systemTime_rili);

    double secondSystem=(systemTime_rili.tm_mday-1)*24*60*60+systemTime_rili.tm_hour*60*60+systemTime_rili.tm_min*60+systemTime_rili.tm_sec;
    double timeOS=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;

    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--osTime: %f s\n", timeOS);


    //计算系统时间和gps时间之间的差距
    double timeDifferenceBetweenSbgAndximea = timeOS - timeDifferenceBetweenSbgAndOS - ximeaTime;

    printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndximea: %f s\n", timeDifferenceBetweenSbgAndximea);

    return timeDifferenceBetweenSbgAndximea;
}

void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName)
{
    try
    {
        if(m_iImagerState <= 99 || m_iImagerState==100 || m_iImagerState==104)
        {
            printf("已经开始采集----------------------------!\n");
            return;
        }

        m_iImagerStateTemp=m_iImagerState;

        m_iImagerState=104;
        emit ximeaImageStatus(m_iImagerState);

        char * timeFormat="%Y%m%d_%H%M%S";
        QString timeStr = formatTimeStr(timeFormat);
        printf("开始采集：%s!\n", timeStr.toStdString().c_str());

        m_iFrameCounter=0;
        m_bRecordControl=true;

        m_baseFileName=baseFileName;

        std::cout << "帧率为：" << getFramerate() << "hz" <<std::endl;
        std::cout << "曝光时间为：" << getExposureTime() << "μs" <<std::endl;

        using namespace std;
//        ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");

        int number_WriteDisk = 100;
        writeData2Disk->setParm(q, m_qFrameCounter,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
//        emit startWriteDiskSignal();

        int indexofbuff;
        DataBuffer * buffer;

        QString timesFileName=m_baseFileName+".times";
        FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
//        ofstream timesFile(timesFileName.toStdString());
        double timeDifferenceBetweenSbgAndXimea;
        double * sbgTimeBuffer = new double[number_WriteDisk];

        QString imageFileName=m_baseFileName+".bil";
        FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
        double * imageBuffer = new double[number_WriteDisk];

        m_imager.start();
        struct timeval timeStart, timeEnd;
        double runTime=0;
        gettimeofday(&timeStart, NULL);
        while (m_bRecordControl)
        {
            unsigned short *x=m_imager.get_frame(m_buffer);
            m_iFrameCounter+=1;

            if (m_iFrameCounter == 1)
            {
                timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
            }
            fwrite(m_imager.m_image.bp,1,m_iFrameSizeInByte, hFile);

            indexofbuff = m_iFrameCounter % number_WriteDisk;

            if (indexofbuff == 0)
            {
                sbgTimeBuffer[number_WriteDisk - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
            }
            else
            {
                sbgTimeBuffer[indexofbuff - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
            }

            if (indexofbuff == 0)
            {
                for (int i = 0; i < number_WriteDisk; ++i)
                {
                    fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
                }
            }
        }
        if (indexofbuff != 0)
        {
            for (int i = 0; i < indexofbuff; ++i)
            {
                fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
            }

            std::cout << "没凑满: " << indexofbuff <<std::endl;
        }
        gettimeofday(&timeEnd, NULL);
        runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
        m_imager.stop();
        writeData2Disk->exitWriteData2Disk();
        writeHdr();

        delete[] sbgTimeBuffer;

        double frameInTheory=runTime * getFramerate();

        double frameLossed = m_imager.m_image.acq_nframe - m_iFrameCounter;
        double frameLossRate = frameLossed / m_imager.m_image.acq_nframe;

        std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<< ".bil" <<std::endl;
        std::cout<<"采集时间为: "<<runTime/60<< " min" <<std::endl;
        std::cout<<"当前帧率为: "<<getFramerate() << "hz" <<std::endl;
        std::cout<<"每秒数据量为: "<<getFramerate()*m_iFrameSizeInByte/(1024*1024)<<"MB"<<std::endl;
        std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe<<std::endl;
        std::cout<<"实际采集帧数为："<<m_iFrameCounter<<std::endl;
        std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
        std::cout<<"丢帧率为: "<<frameLossRate * 100<< "%" <<std::endl;

        fclose(hHimesFile);
        fclose(hFile);
//        timesFileHandle.close();
//        timesFile.close();

        timeStr = formatTimeStr(timeFormat);
        printf("停止采集：%s!\n", timeStr.toStdString().c_str());

        m_iImagerState=m_iImagerStateTemp;
        emit ximeaImageStatus(m_iImagerState);

        emit recordFinished();
    }
    catch(int xiApiErrorCodes)
    {
        processXiApiErrorCodes(xiApiErrorCodes);
    }
}

void XimeaImager::writeHdr()
{
    using namespace std;

    QString hdrPath=m_baseFileName+".hdr";

    ofstream hdrFileHandle(hdrPath.toStdString());
    hdrFileHandle << "ENVI\n";

    QString SN;
    m_configfile.getSN(SN);
    hdrFileHandle << "SN = " << SN.toStdString() << "\n";

    hdrFileHandle << "interleave = bil\n";
    hdrFileHandle << "byte order = 0\n";
    hdrFileHandle << "data type = 2\n";
    //hdrFileHandle << "bit depth = 12\n";

    hdrFileHandle << "samples = " << getSampleCount() << "\n";
    hdrFileHandle << "bands = " << getBandCount() << "\n";
    hdrFileHandle << "lines = " << m_iFrameCounter << "\n";
    hdrFileHandle << "sample binning = " << m_imager.getSpatialBin() << "\n";
    hdrFileHandle << "spectral binning = " << m_imager.getSpectralBin() << "\n";

    hdrFileHandle << "framerate = " << getFramerate() << "\n";
    hdrFileHandle << "shutter = " << getExposureTime()/1000 << "\n";
    hdrFileHandle << "shutter units = milliseconds\n";
    hdrFileHandle << "gain = " << getGain() << "\n";

    hdrFileHandle << "wavelength units = nanometers\n";
    hdrFileHandle << "wavelength = {";
    //hdrFileHandle << std::setprecision(5);

    if (m_imager.getSpectralBin() == 1)
    {
        for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
        {
            hdrFileHandle << geWavelengthAtBand(i);
            if (i < getWindowEndBand() - 1)
                hdrFileHandle << ", ";
            else
            {
                printf("头文件中写入了多少个波段:%d\n",i-getWindowStartBand()+1);//???????????????
            }
        }
    }
    else if (m_imager.getSpectralBin() == 2)
    {
        int counter = 0;
        for (int i = m_iOffsetyOfSpectralBin2; i < m_iOffsetyOfSpectralBin2 + m_iHeightOfSpectralBin2; i++)
        {
            if (i*2 + 1 > m_iOffsetyOfSpectralBin1 + m_iHeightOfSpectralBin1)
            {
                printf("XimeaImager::writeHdr 出现错误：窗口中，光谱 bin1 波段数小于 bin2 的 2 倍。\n");
                break;
            }

            hdrFileHandle << (geWavelengthAtBand(i*2) + geWavelengthAtBand(i*2 + 1)) / 2;
            counter++;
            if (i < m_iOffsetyOfSpectralBin2 + m_iHeightOfSpectralBin2 - 1)
                hdrFileHandle << ", ";
            else
            {
                printf("头文件中写入了多少个波段:%d\n", counter);
            }
        }
    }


    hdrFileHandle << "}\n";
    hdrFileHandle.close();
}

/*
#define MM40_OK                            0 //!< Function call succeeded
#define MM40_INVALID_HANDLE                1 //!< Invalid handle
#define MM40_READREG                       2 //!< Register read error
#define MM40_WRITEREG                      3 //!< Register write error
#define MM40_FREE_RESOURCES                4 //!< Freeing resources error
#define MM40_FREE_CHANNEL                  5 //!< Freeing channel error
#define MM40_FREE_BANDWIDTH                6 //!< Freeing bandwith error
#define MM40_READBLK                       7 //!< Read block error
#define MM40_WRITEBLK                      8 //!< Write block error
#define MM40_NO_IMAGE                      9 //!< No image
#define MM40_TIMEOUT                      10 //!< Timeout
#define MM40_INVALID_ARG                  11 //!< Invalid arguments supplied
#define MM40_NOT_SUPPORTED                12 //!< Not supported
#define MM40_ISOCH_ATTACH_BUFFERS         13 //!< Attach buffers error
#define MM40_GET_OVERLAPPED_RESULT        14 //!< Overlapped result
#define MM40_MEMORY_ALLOCATION            15 //!< Memory allocation error
#define MM40_DLLCONTEXTISNULL             16 //!< DLL context is NULL
#define MM40_DLLCONTEXTISNONZERO          17 //!< DLL context is non zero
#define MM40_DLLCONTEXTEXIST              18 //!< DLL context exists
#define MM40_TOOMANYDEVICES               19 //!< Too many devices connected
#define MM40_ERRORCAMCONTEXT              20 //!< Camera context error
#define MM40_UNKNOWN_HARDWARE             21 //!< Unknown hardware
#define MM40_INVALID_TM_FILE              22 //!< Invalid TM file
#define MM40_INVALID_TM_TAG               23 //!< Invalid TM tag
#define MM40_INCOMPLETE_TM                24 //!< Incomplete TM
#define MM40_BUS_RESET_FAILED             25 //!< Bus reset error
#define MM40_NOT_IMPLEMENTED              26 //!< Not implemented
#define MM40_SHADING_TOOBRIGHT            27 //!< Shading is too bright
#define MM40_SHADING_TOODARK              28 //!< Shading is too dark
#define MM40_TOO_LOW_GAIN                 29 //!< Gain is too low
#define MM40_INVALID_BPL                  30 //!< Invalid sensor defect correction list
#define MM40_BPL_REALLOC                  31 //!< Error while sensor defect correction list reallocation
#define MM40_INVALID_PIXEL_LIST           32 //!< Invalid pixel list
#define MM40_INVALID_FFS                  33 //!< Invalid Flash File System
#define MM40_INVALID_PROFILE              34 //!< Invalid profile
#define MM40_INVALID_CALIBRATION          35 //!< Invalid calibration
#define MM40_INVALID_BUFFER               36 //!< Invalid buffer
#define MM40_INVALID_DATA                 38 //!< Invalid data
#define MM40_TGBUSY                       39 //!< Timing generator is busy
#define MM40_IO_WRONG                     40 //!< Wrong operation open/write/read/close
#define MM40_ACQUISITION_ALREADY_UP       41 //!< Acquisition already started
#define MM40_OLD_DRIVER_VERSION           42 //!< Old version of device driver installed to the system.
#define MM40_GET_LAST_ERROR               43 //!< To get error code please call GetLastError function.
#define MM40_CANT_PROCESS                 44 //!< Data cannot be processed
#define MM40_ACQUISITION_STOPED           45 //!< Acquisition is stopped. It needs to be started to perform operation.
#define MM40_ACQUISITION_STOPED_WERR      46 //!< Acquisition has been stopped with an error.
#define MM40_INVALID_INPUT_ICC_PROFILE    47 //!< Input ICC profile missing or corrupted
#define MM40_INVALID_OUTPUT_ICC_PROFILE   48 //!< Output ICC profile missing or corrupted
#define MM40_DEVICE_NOT_READY             49 //!< Device not ready to operate
#define MM40_SHADING_TOOCONTRAST          50 //!< Shading is too contrast
#define MM40_ALREADY_INITIALIZED          51 //!< Module already initialized
#define MM40_NOT_ENOUGH_PRIVILEGES        52 //!< Application does not have enough privileges (one or more app)
#define MM40_NOT_COMPATIBLE_DRIVER        53 //!< Installed driver is not compatible with current software
#define MM40_TM_INVALID_RESOURCE          54 //!< TM file was not loaded successfully from resources
#define MM40_DEVICE_HAS_BEEN_RESETED      55 //!< Device has been reset, abnormal initial state
#define MM40_NO_DEVICES_FOUND             56 //!< No Devices Found
#define MM40_RESOURCE_OR_FUNCTION_LOCKED  57 //!< Resource (device) or function locked by mutex
#define MM40_BUFFER_SIZE_TOO_SMALL        58 //!< Buffer provided by user is too small
#define MM40_COULDNT_INIT_PROCESSOR       59 //!< Could not initialize processor.
#define MM40_NOT_INITIALIZED              60 //!< The object/module/procedure/process being referred to has not been started.
#define MM40_RESOURCE_NOT_FOUND           61 //!< Resource not found(could be processor, file, item...).
*/

void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
{
    using namespace std;
    switch (xiApiErrorCodes)
    {
    case 1:
        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Invalid handle!"<<std::endl;
        m_iImagerState=xiApiErrorCodes;
        emit ximeaImageStatus(m_iImagerState);

        break;
    case 10:
        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Timeout!"<<std::endl;
        m_iImagerState=xiApiErrorCodes;
        emit ximeaImageStatus(m_iImagerState);

        break;
    case 11:
        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Invalid arguments supplied!"<<std::endl;
        m_iImagerState=xiApiErrorCodes;
        emit ximeaImageStatus(m_iImagerState);

        break;
    case 12:
        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Not supported!"<<std::endl;
        m_iImagerState=xiApiErrorCodes;
        emit ximeaImageStatus(m_iImagerState);

        break;
    case 15:
        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Memory allocation error!"<<std::endl;
        m_iImagerState=xiApiErrorCodes;
        emit ximeaImageStatus(m_iImagerState);

        break;
    case 56:
        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:NO_DEVICES_FOUND!"<<std::endl;
        m_iImagerState=xiApiErrorCodes;
        emit ximeaImageStatus(m_iImagerState);

        break;
    case 57:
        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:RESOURCE_OR_FUNCTION_LOCKED!"<<std::endl;
        m_iImagerState=xiApiErrorCodes;
        emit ximeaImageStatus(m_iImagerState);

        break;
    default:
        m_iImagerState=99;
        emit ximeaImageStatus(m_iImagerState);
        break;
    }

    writeXiApiErrorCodes("/media/nvme/300TC/ximeaError.txt", xiApiErrorCodes);
}

void XimeaImager::writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes)
{
    ofstream ximeaErrorFile(filePath.toStdString().c_str(),ios::app);

    char * timeFormat="%Y%m%d_%H%M%S";
    QString timeStr = formatTimeStr(timeFormat);

    ximeaErrorFile<< timeStr.toStdString().c_str() << ": " << xiApiErrorCodes << "\n";

    std::cout<<"XimeaImager::writeXiApiErrorCodes-----------:xiApiErrorCodes: "<<timeStr.toStdString().c_str()<< ": " << xiApiErrorCodes<<std::endl;

    ximeaErrorFile.close();
}

void XimeaImager::stopRecord()
{
    //printf("Stop record!\n");
    m_bRecordControl=false;
}

int XimeaImager::getFrameCounter()
{
    return m_iFrameCounter;
}

DataBuffer::DataBuffer()
{
}

DataBuffer::~DataBuffer()
{
}

RecordXimeaTemperature::RecordXimeaTemperature(Iris::IrisXimeaImager * imager, XimeaImager * ximeaImager)
{
    m_imager = imager;
    m_bIsRecord = true;

    m_ximeaImager = ximeaImager;
}

void RecordXimeaTemperature::stopRecordTemperature()
{
    m_bIsRecord = false;
}

void RecordXimeaTemperature::recordTemperature(QString filePath= nullptr)
{
    if(filePath== nullptr)
        filePath="ximeaTemperature.csv";
    QList<QString> fileInfo = getFileInfo(filePath);
    bool ret = createDir(fileInfo[0]);

    ofstream ximeaTemperatureFile(filePath.toStdString().c_str(),ios::app);
    int counter = 0;
    while(m_bIsRecord)
    {
        counter++;

        float temp = m_imager->getTemperature();
        if(temp > 80 && m_ximeaImager->getImagerState() == 104)
        {
            ximeaTemperatureFile.flush();
            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
        }
        if(temp > 90)
        {
            ximeaTemperatureFile.flush();
            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 2");
        }

        QDateTime curDateTime = QDateTime::currentDateTime();
        QString currentTime = curDateTime.toString("yyyy/MM/dd hh:mm:ss");

        ximeaTemperatureFile << currentTime.toStdString() << "," << temp << "\n";

//        std::cout<<"RecordXimeaTemperature::recordTemperature----------------:ximea Temperature is "<< temp <<std::endl;
//        std::cout<<"RecordXimeaTemperature::recordTemperature----------------:ximea state is "<< m_ximeaImager->getImagerState() <<std::endl;

        if (counter % 60 == 0)
        {
            ximeaTemperatureFile.flush();
        }
        sleep(1);
    }

    m_bIsRecord = true;

    ximeaTemperatureFile.close();
}

WriteData2Disk::WriteData2Disk()
{
    isExitWriteData2Disk = false;
}

void WriteData2Disk::write2Disk()
{
    QString imageFileName=m_QbaseFileName+".bil";
    FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");


    int frameCounter = 0;
    int frameNumber;
    unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2*m_iNumber_WriteDisk];
    isExitWriteData2Disk = false;
    while(true)
    {
        r_qtx.lock();
        bool bempty=m_q->empty();
        r_qtx.unlock();
        if(bempty && isExitWriteData2Disk)
        {
            std::cout<<"WriteData2Disk::write2Disk-----------------------队列为空，采集线程已经退出！"<<std::endl;
            break;
        }
        else if(isExitWriteData2Disk)
        {
            std::cout<<"WriteData2Disk::write2Disk-----------------------isExitWriteData2Disk：true"<<std::endl;
            std::cout<<"WriteData2Disk::write2Disk-----------------------队列大小"<<m_q->size()<<std::endl;
        }
        else if(bempty && !isExitWriteData2Disk)
        {
            continue;
        }



        r_qtx.lock();
        DataBuffer * buffer = m_q->front();
        int frameNumber = m_qFrameCounter->front();
        memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*frameNumber);
//        m_pool->destroy(m_q->front());
        m_pool->deleteElement(buffer);
        m_q->pop();
        m_qFrameCounter->pop();
        r_qtx.unlock();

        //构造rgb图像，用于推流到m300遥控器
//        m_rgbImage->FillRgbImage(dataBuffer);


//        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
        fwrite(dataBuffer,1,m_iFrameSizeInByte*frameNumber, hFile);


        frameCounter++;
    }
    m_rgbImage->m_VideoWriter.release();
    fclose(hFile);
    delete[] dataBuffer;


    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，内存池可达到的最多元素数：" << m_pool->max_size() <<std::endl;
    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，fwrite 调用次数：" << frameCounter <<std::endl;
}

void WriteData2Disk::exitWriteData2Disk()
{
    std::cout<< "执行函数：WriteData2Disk::exitWriteData2Disk" <<std::endl;
    isExitWriteData2Disk = true;
}

void WriteData2Disk::setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
{
    m_q = q;
    m_qFrameCounter = qFrameCounter;
    m_QbaseFileName = baseFileName;
    m_iFrameSizeInByte = frameSizeInByte;
    m_iNumber_WriteDisk = number_WriteDisk;

    m_pool = pool;

    m_rgbImage = rgbImage;
}